Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay
In this paper, a robust adaptive control law is proposed based on backstepping technique for strict-feedback systems with unknown actuator failure and unknown time delay. Unlike existing results, the bounding function of the time delay term is allowed to depend on all system states, and thus the tri...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8269308/ |
| _version_ | 1818415467122917376 |
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| author | Jianping Cai Jun Wan Haoyi Que Qingping Zhou Lujuan Shen |
| author_facet | Jianping Cai Jun Wan Haoyi Que Qingping Zhou Lujuan Shen |
| author_sort | Jianping Cai |
| collection | DOAJ |
| description | In this paper, a robust adaptive control law is proposed based on backstepping technique for strict-feedback systems with unknown actuator failure and unknown time delay. Unlike existing results, the bounding function of the time delay term is allowed to depend on all system states, and thus the triangular structure of the system to be controlled is destroyed. By constructing a linear projection between the state vector (x<sub>1</sub>, x<sub>2</sub>) and its transform (z<sub>1</sub>, z<sub>2</sub>) in controller design, the triangular structure requirement of backstepping technique is no longer needed. Simulation results show that the designed controller can ensure the stability of the closed-loop system. |
| first_indexed | 2024-12-14T11:35:27Z |
| format | Article |
| id | doaj.art-09cca98f1b2b47fb88c742f0f0b04eb5 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T11:35:27Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-09cca98f1b2b47fb88c742f0f0b04eb52022-12-21T23:03:03ZengIEEEIEEE Access2169-35362018-01-016151701517710.1109/ACCESS.2018.27961298269308Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time DelayJianping Cai0https://orcid.org/0000-0003-4724-796XJun Wan1https://orcid.org/0000-0003-0174-1145Haoyi Que2Qingping Zhou3Lujuan Shen4Zhejiang University of Water Resources and Electric Power, Hangzhou, ChinaZhejiang University of Water Resources and Electric Power, Hangzhou, ChinaState Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, ChinaDepartment of Mathematics and Information Science, Tangshan Normal University, Tangshan, ChinaZhejiang University of Water Resources and Electric Power, Hangzhou, ChinaIn this paper, a robust adaptive control law is proposed based on backstepping technique for strict-feedback systems with unknown actuator failure and unknown time delay. Unlike existing results, the bounding function of the time delay term is allowed to depend on all system states, and thus the triangular structure of the system to be controlled is destroyed. By constructing a linear projection between the state vector (x<sub>1</sub>, x<sub>2</sub>) and its transform (z<sub>1</sub>, z<sub>2</sub>) in controller design, the triangular structure requirement of backstepping technique is no longer needed. Simulation results show that the designed controller can ensure the stability of the closed-loop system.https://ieeexplore.ieee.org/document/8269308/Adaptive controltime delayactuator failurebacksteppting |
| spellingShingle | Jianping Cai Jun Wan Haoyi Que Qingping Zhou Lujuan Shen Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay IEEE Access Adaptive control time delay actuator failure backsteppting |
| title | Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay |
| title_full | Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay |
| title_fullStr | Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay |
| title_full_unstemmed | Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay |
| title_short | Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay |
| title_sort | adaptive actuator failure compensation control of second order nonlinear systems with unknown time delay |
| topic | Adaptive control time delay actuator failure backsteppting |
| url | https://ieeexplore.ieee.org/document/8269308/ |
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